Vehicle surrounding display device

Abstract

A device displays images such that a driver can easily recognize an obstacle. The device includes a measurement for measuring a distance and direction to an obstacle, a comparison section for comparing the measured distance with a threshold value, a viewpoint determination section for determining a first viewpoint when the measured distance is larger than the threshold value and a second viewpoint based on the measured direction when the measured distance is not larger than the threshold value, an image generating section for generating an image representing an environment as seen from the first viewpoint when the first viewpoint is set and an image of a particular spot representing a view of the vehicle and the obstacle as seen from an area of the second viewpoint when the second viewpoint is set, and a display section for displaying the bird's eye image or the image of the particular spot.

1. A vehicle surrounding display device which selectively displays at least two types of images in a vicinity of a vehicle, the vehicle surrounding display device comprising:
 a measurement section for measuring a distance and a direction from the vehicle to an obstacle in the vicinity of the vehicle; 
 a comparison section for comparing the distance measured by the measurement section with a predetermined threshold value; 
 a viewpoint determination section for determining a predetermined first viewpoint when a comparison result generated by the comparison section indicates that the measured distance is larger than the threshold value, and for determining a second viewpoint based on the direction measured by the measurement section when the comparison result generated by the comparison section indicates that the measured distance is not larger than the threshold value; 
 an image generating section for generating, when receiving the first viewpoint from the viewpoint determination section, a first image representing a view in the vicinity of the vehicle as seen from the received first viewpoint, and for generating, when receiving the second viewpoint from the viewpoint determination section, a second image representing a view of the vehicle and the obstacle as seen from an area in the vicinity of the received second viewpoint; and 
 a display section for displaying one of the first image and the second image generated by the image generating section. 
 
   
   
     2. The vehicle surrounding display device according to  claim 1 , wherein
 the first viewpoint and the second viewpoint are represented by three-dimensional coordinate values, respectively, a horizontal direction component of the second view point is larger than a horizontal direction component of the first viewpoint, and a vertical direction component of the second viewpoint is smaller than a vertical direction component of the first viewpoint. 
 
   
   
     3. The vehicle surrounding display device according to  claim 2 , wherein
 the three-dimensional coordinate values of the first viewpoint are set at a point which is above the vehicle, and 
 the three-dimensional coordinate values of the second viewpoint are set at a point having a predetermined depression angle which is formed between a horizontal plane and a line extending from the second viewpoint in a direction of the vehicle and the obstacle. 
 
   
   
     4. The vehicle surrounding display device according to  claim 3 , wherein
 the second viewpoint is set at a point contained in a vertical plane orthogonal to a line between the vehicle and the obstacle. 
 
   
   
     5. The vehicle surrounding display device according to  claim 4 , wherein
 the vertical plane is a plane which perpendicularly bisects the line between the vehicle and the obstacle. 
 
   
   
     6. The vehicle surrounding display device according to  claim 1 , further comprising a contact determination section for determining whether the vehicle is capable of moving without contacting the obstacle, wherein
 when the contact determination section determines that the vehicle is capable of moving without contacting the obstacle, the display section displays a third image different from the second image. 
 
   
   
     7. The vehicle surrounding display device according to  claim 6 , wherein
 the measurement section further measures a height of the obstacle, and 
 the contact determination section determines whether the vehicle is capable of moving without contacting the obstacle based on the height of the obstacle. 
 
   
   
     8. The vehicle surrounding display device according to  claim 6 , further comprising a steering angle detecting section for detecting a steering angle of the vehicle, wherein
 the contact determination section determines whether the vehicle is capable of moving without contacting the obstacle based on the steering angle detected by the steering angle detecting section. 
 
   
   
     9. The vehicle surrounding display device according to  claim 8 , wherein
 when the contact determination section determines that the vehicle is capable of moving without contacting the obstacle, the viewpoint determination section additionally determines the second viewpoint based on the steering angle detected by the steering angle detecting section. 
 
   
   
     10. The vehicle surrounding display device according to  claim 9 , wherein
 the second viewpoint is set at three-dimensional coordinate values such that a driver can visually recognize both the obstacle and a spot, on the vehicle, to contact the obstacle. 
 
   
   
     11. The vehicle surrounding display device according to  claim 1 , further comprising a selecting section for selecting, when the measurement section measures a plurality of distances and directions of obstacles, one distance and one direction of an obstable which are most likely to contact the vehicle, wherein
 the comparison section compares the distance selected by the selecting section with a predetermined threshold value, and 
 the viewpoint determination section determines the second viewpoint based on the direction selected by the selecting section, when the comparison result generated by the comparison section indicates that the measured distance is not larger than the threshold value. 
 
   
   
     12. The vehicle surrounding display device according to  claim 1 , further comprising a plurality of active sensors mounted at any of a front part, a rear part, a right side part or a left side part of the vehicle, wherein
 each of the active sensors detects for an obstacle in the vicinity of the vehicle. 
 
   
   
     13. A vehicle surrounding display method for causing a display device to selectively display at least two types of images in a vicinity of a vehicle, the vehicle surrounding display method comprising:
 a measurement step of measuring a distance and a direction from the vehicle to an obstacle in the vicinity of the vehicle; 
 a comparison step of comparing the distance measured by the measurement step with a predetermined threshold value; 
 a viewpoint determination step of determining a predetermined first viewpoint when a result received from the comparison step indicates that the measured distance is larger than the threshold value, and determining a second viewpoint based on the distance measured by the measurement step when the result received from the comparison step indicates that the measured distance is not larger than the threshold value; 
 a image generating step of generating, when receiving the first viewpoint from the viewpoint determination step, a first image representing a view in the vicinity of the vehicle as seen from the first viewpoint, and generating, when receiving the second viewpoint from the viewpoint determination step, a second image representing a view of the vehicle and the obstacle as seen from an area in the vicinity of the second viewpoint; and 
 a display step of displaying one of the first image and the second image generated by the image generating step. 
 
   
   
     14. A computer program recorded on a computer-readable medium for causing a display device to selectively display at least two types of images around a vehicle, the computer program comprising:
 a measurement step of measuring a distance and a direction from the vehicle to an obstacle in a vicinity of the vehicle; 
 a comparison step of comparing the distance measured by the measurement step with a predetermined threshold value; 
 a viewpoint determination step of determining a predetermined first viewpoint when a result received from the comparison step indicates that the measured distance is larger than the threshold value, and determining a second viewpoint based on the distance measured by the measurement step when the result received from the comparison step indicates that the measured distance is not larger than the threshold value; 
 a image generating step of generating, when receiving the first viewpoint from the viewpoint determination step, a first image representing a view in the vicinity of the vehicle as seen from the first viewpoint, and generating, when receiving the second viewpoint from the viewpoint determination step, a second image representing a view of the vehicle and the obstacle as seen tiom an area in the vicinity of the second viewpoint; and 
 a display step of displaying one of the first image and the second image generated by the image generating step.